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feat(autoware_motion_utils): set zero velocity after stop in resample trajectory #8768

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merged 4 commits into from
Sep 6, 2024
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feat(autoware_motion_utils): set zero velocity after stop in resample trajectory #8768

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a408cc6
feat(autoware_motion_utils): set zero velocity after stop in resample…
yhisaki Sep 6, 2024
281471b
fix unit test
yhisaki Sep 6, 2024
0795a05
simplify implementation
yhisaki Sep 6, 2024
fb0c560
update comment and add test
yhisaki Sep 6, 2024
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17 changes: 17 additions & 0 deletions common/autoware_motion_utils/src/resample/resample.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2022 Tier IV, Inc.

Check notice on line 1 in common/autoware_motion_utils/src/resample/resample.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 10.00 to 10.30, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

resampleTrajectory already has high cyclomatic complexity, and now it increases in Lines of Code from 95 to 105. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand All @@ -21,6 +21,8 @@
#include "interpolation/spline_interpolation.hpp"
#include "interpolation/zero_order_hold.hpp"

#include <cstdlib>

namespace autoware::motion_utils
{
std::vector<geometry_msgs::msg::Point> resamplePointVector(
Expand Down Expand Up @@ -601,22 +603,37 @@
rear_wheel_angle.push_back(input_trajectory.points.front().rear_wheel_angle_rad);
time_from_start.push_back(
rclcpp::Duration(input_trajectory.points.front().time_from_start).seconds());

for (size_t i = 1; i < input_trajectory.points.size(); ++i) {
const auto & prev_pt = input_trajectory.points.at(i - 1);
const auto & curr_pt = input_trajectory.points.at(i);
const double ds =
autoware::universe_utils::calcDistance2d(prev_pt.pose.position, curr_pt.pose.position);

input_arclength.push_back(ds + input_arclength.back());
input_pose.push_back(curr_pt.pose);
v_lon.push_back(curr_pt.longitudinal_velocity_mps);
v_lat.push_back(curr_pt.lateral_velocity_mps);
heading_rate.push_back(curr_pt.heading_rate_rps);
acceleration.push_back(curr_pt.acceleration_mps2);
front_wheel_angle.push_back(curr_pt.front_wheel_angle_rad);
rear_wheel_angle.push_back(curr_pt.rear_wheel_angle_rad);
time_from_start.push_back(rclcpp::Duration(curr_pt.time_from_start).seconds());
}

// Set Zero Velocity After Stop Point
// If the longitudinal velocity is zero, set the velocity to zero after that point.
bool stop_point_found_in_v_lon = false;
constexpr double epsilon = 1e-4;
for (size_t i = 0; i < v_lon.size(); ++i) {
if (std::abs(v_lon.at(i)) < epsilon) {
stop_point_found_in_v_lon = true;
}
if (stop_point_found_in_v_lon) {
v_lon.at(i) = 0.0;
}
}

Check warning on line 636 in common/autoware_motion_utils/src/resample/resample.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ Getting worse: Complex Method 

resampleTrajectory increases in cyclomatic complexity from 9 to 12, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.
// Interpolate
const auto lerp = [&](const auto & input) {
return interpolation::lerp(input_arclength, input, resampled_arclength);
Expand Down
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